Heat canola oil in a large, oven-safe skillet over medium heat. Add chicken, skin side down, and cook until skin crisps slightly and some fat is rendered, about 3 minutes. Add sweet potato and spread slices around the pan, making sure chicken is still skin side down.

Transfer to oven and bake 15 minutes.

Add asparagus and flip chicken, then roast 10 minutes more, until sweet potatoes and asparagus are soft and chicken is cooked through with no pink in the middle.